Hydraulically-operated micromanipulator apparatus

Abstract

A hydraulically-operated micromanipulator apparatus is disclosed. The micromanipulator apparatus comprises: a micromanipulator fine control unit including an operating-side piston finely movable with respect to an operating-side hydraulic cylinder and fine control means, either the operating-side piston or the operating-side hydraulic cylinder being stationarily retained, while the rest being finely operable by the fine control means; a hydraulically-operated micromanipulator including an actuating-side piston finely movable with respect to an actuating-side hydraulic cylinder and a fine displacement member, the actuating-side hydraulic cylinder being connected to said operating-side hydraulic cylinder through a hose, either the actuating-side piston or the actuating-side hydraulic cylinder being stationarily retained, while the rest being attached to the fine displacement member; and compensating means for compensating a pressure change of the hydraulic fluid between said operating-side hydraulic cylinder and said actuating-side hydraulic cylinder when ambient temperature changes.

What is claimed is: 
     
       1. A hydraulically-operated micromanipulator apparatus, which comprises: a micromanipulator fine control unit including first and second operating-side pistons operatively related to respective first and second operating-side hydraulic cylinders and finely movable relative thereto in response to movement of a fine control device, either the operating-side pistons or the operating-side hydraulic cylinders being stationarily retained, while the non-retained operating-side pistons or cylinders are finely operable by the fine control device; and   a hydraulically-operated micromanipulator unit including first and second actuating-side pistons operatively related to respective first and second actuating-side hydraulic cylinders and finely movable relative thereto, the actuating-side hydraulic cylinders being connected to respective operating-side hydraulic cylinders through respective hoses, either the actuating-side pistons or the actuating-side hydraulic cylinders being stationarily retained, the non-retained actuating-side pistons or cylinders being attached to a fine displacement member, whereby   the interconnected operating-side and actuating-side cylinders compensate for pressure change of hydraulic fluid between said operating-side and actuating-side hydraulic cylinders when ambient temperature changes.   
     
     
       2. A hydraulically-operated micromanipulator apparatus, which comprises a micromanipulator fine control unit and a hydraulically-operated micromanipulator, said micromanipulator fine control unit including: a sliding table movable with respect to a basement;   a first hydraulic cylinder and a second hydraulic cylinder mounted on the sliding table with openings facing outwardly along the sliding directions of the sliding table;   a first piston and a second piston fixed to the basement and inserted within the first and the second hydraulic cylinders, respectively; and   fine control means for finely displacing the sliding table,     said hydraulically-operated micromanipulator including: an outer slider provided with guiding grooves along its sliding directions;   an inner slider fitted within the outer slider and stationarily retained so as to ensure the sliding movement of the outer slider;   a third hydraulic cylinder and a fourth hydraulic cylinder mounted on the outer slider with openings facing outwardly along the sliding directions of the outer slider;   a third piston and a fourth piston fixed to the inner slider and inserted within the third and the fourth hydraulic cylinders, respectively; and   a first hose connecting the first hydraulic cylinder and the third hydraulic cylinder, and a second hose connecting the second hydraulic cylinder and the fourth hydraulic cylinder, and     said sliding table being finely displaced by operating the fine control means of the micromanipulator fine control unit for changing the volumes of hydraulic fluid within the first and the second hydraulic cylinders, said outer slider being finely displaced with respect to said inner slider with the volume changes of the first and the second hydraulic being transmitted through the first and the second hoses to the third and the fourth hydraulic cylinders.   
     
     
       3. A hydraulically-operated micromanipulator apparatus according to claim 2, wherein the volume of the hydraulic fluid within said first hydraulic cylinder is reduced when the volume of the hydraulic fluid within said second hydraulic cylinder is increased, and the volume of the hydraulic fluid within said first hydraulic cylinder is increased when the volume of the hydraulic fluid within said second hydraulic cylinder is reduced. 
     
     
       4. A hydraulically-operated micromanipulator apparatus according to any one of claim 2 to 3, wherein said micromanipulator fine control unit provides three-directional fine displacement of the hydraulically-operated micromanipulator. 
     
     
       5. A hydraulically-operated micromanipulator apparatus, which comprises a micromanipulator fine control unit and a hydraulically-operated micromanipulator, said micromanipulator fine control unit including: first and second hydraulic cylinders; first and second pistons inserted within the corresponding first and second hydraulic cylinders; an operating-side slider comprising a movable member and a stationary member; and a fine control means for finely controlling the operating-side slider;   either said first piston or said first hydraulic cylinder being stationary held, while the other is mounted on the movable member of said operating-side slider, and     said hydraulically-operated micromanipulator including: a third hydraulic cylinder connected to said first hydraulic cylinder through a first hose; a fourth hydraulic cylinder connected to said second hydraulic cylinder through a second hose; third and fourth pistons inserted within the corresponding third and fourth hydraulic cylinders; and an actuating-side slider comprising a movable member and a stationary member;   either said third piston or said third hydraulic cylinder being stationarily held, while the other is mounted on the movable member of said actuating-side slider, and   either said fourth piston or said fourth hydraulic cylinder being stationarily held, while the other is mounted on the movable member of said operating-side slider,   the movable member of said operating-side slider being displaced by operating the fine control means of the micromanipulator fine control unit for changing the volumes of hydraulic fluid within the first and the second hydraulic cylinders, while said movable member of said actuating-side slider is finely displaced with respect to the stationary member of said actuating-side slider with the volume change of the first and the second hydraulic cylinders being transmitted through the first and the second hoses to the third and fourth hydraulic cylinders, and   a volume change of hydraulic fluid resulting from ambient temperature changes between the micromanipulator fine control unit and the hydraulically-operated micromanipulator being prevented by the first and the second hydraulic cylinders and the third and the fourth hydraulic cylinders being connected through the first and the second hoses.     
     
     
       6. A hydraulically-operated micromanipulator apparatus according to claim 5, wherein the volume of the hydraulic fluid within said first hydraulic cylinder is reduced when the volume of the hydraulic fluid within said second hydraulic cylinder is increased, and the volume of the hydraulic fluid within said first hydraulic cylinder is increased when the volume of the hydraulic fluid within said second hydraulic fluid is reduced. 
     
     
       7. A hydraulically-operated micromanipulator apparatus according to claim 6, wherein said micromanipulator fine control unit provides three-directional fine displacement of the hydraulically-operated micromanipulator.